Container head type identification method, device, equipment and yard crane

Abstract

The application provides a container stack head type identification method, device and equipment and a yard crane. The method comprises the following steps: acquiring container data under a top view angle of a container yard; determining a continuous container width according to the container data; and determining that the container stack head type is dense stacking if the continuous container width is greater than a preset single container width. In this way, the system can automatically and accurately identify the stack head type of the container, improve the automation degree of the yard operation, and reduce the operation failure rate. By accurately judging the stack head type, the automatic equipment can adjust the operation strategy according to the characteristics of the stack head, and improve the grabbing and placing accuracy.

Description

Technical Field

[0001] This application relates to the field of container handling technology, and in particular to a method, apparatus, equipment and yard crane for identifying container stack type. Background Technology

[0002] Automated container handling systems are an important component of port automation. These systems significantly improve the efficiency, accuracy, and safety of port operations. On the one hand, they save on labor costs; on the other hand, they reduce the risk of container damage during transportation.

[0003] Stack head identification refers to the analysis and classification of the stacking structure of containers in a container yard to determine the type of stack head at each stacking location, thus providing important information for automated gripping and placing equipment. In container yards, there may be multiple stack head configurations. Current technologies use the same gripping and placing method for all stack head configurations, generally without considering the container stack head type. This can lead to deviations in the gripper's position, reduce automation, and affect the safety of gripping and placing.

[0004] Therefore, identifying the type of container stack in a container yard is an urgent problem to be solved. Summary of the Invention

[0005] The method, apparatus, equipment, and yard crane provided in this application for identifying container stack type are used to quickly identify the stack type of containers in the yard, thereby guiding the handling and placement of containers and improving the accuracy of handling and placement.

[0006] Firstly, this application provides a method for identifying container stack head types, the method comprising:

[0007] Acquire container data from the top view of the container yard;

[0008] The width of consecutive containers is determined based on the container data;

[0009] If the width of consecutive containers is greater than the preset width of a single container, then the container stack type is determined to be close stacking.

[0010] Optionally, the method further includes:

[0011] If the width of consecutive containers is less than or equal to the preset width of a single container, then the container stack type is determined to be a standard stack.

[0012] Optionally, if the container stack type is determined to be close stacking, the method further includes:

[0013] Based on the container data, determine the number of segments of continuous container width in the container width direction;

[0014] If the number of segments is equal to 1, then the stack head type is determined to be a single stack head in a dense stack;

[0015] If the number of segments is equal to 2, then the pile head type is determined to be a double pile head in a close-packed structure;

[0016] If the number of segments is greater than 2, then the stack head type is determined to be a multi-stack head in a dense stack.

[0017] Optionally, determining the width of consecutive containers based on the container data includes:

[0018] Based on the container data, the outline of each container is determined;

[0019] If the width interval between any two container outlines is less than a preset value, then the two container outlines are determined to be continuous container outlines.

[0020] The width of the continuous container is determined based on the continuous container profile.

[0021] Optionally, the container data is point cloud data, and determining the width of continuous containers based on the container data includes:

[0022] Based on the point cloud data of the container, the continuous point cloud projection length in a preset direction is determined as the continuous container width.

[0023] Optionally, if the container stack type is determined to be dense stacking, and the container data is point cloud data, the method further includes:

[0024] Construct a coordinate system based on the point cloud data;

[0025] Determine the coordinates of each container;

[0026] If the coordinates of all containers match the preset single stack arrangement, then the stack arrangement is determined to be a single stack in a close-packed configuration.

[0027] Optionally, the method further includes:

[0028] Determine the grabbing and release control method corresponding to the stack head type. The grabbing and release points of containers are different in the grabbing and release control method corresponding to different stack head types.

[0029] Execute the aforementioned grasping and releasing control method.

[0030] Secondly, this application provides a device for identifying container stack type, the device comprising:

[0031] The acquisition module is used to acquire container data from the top view of the container yard;

[0032] The first determining module is used to determine the width of consecutive containers based on the container data;

[0033] The second determining module is used to determine the container stack type as close stacking if the width of consecutive containers is greater than the preset width of a single container.

[0034] Thirdly, this application provides an electronic device, including: a memory and a processor;

[0035] The memory stores computer-executed instructions;

[0036] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0037] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible embodiments of the first aspect.

[0038] Fifthly, this application provides a field bridge including a controller for performing the first aspect and / or various possible implementations of the first aspect.

[0039] In a sixth aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0040] This application provides a method, apparatus, equipment, and yard crane for identifying container stack types. The method includes: acquiring container data from a top view of the container yard; determining the width of consecutive containers based on the container data; and determining the container stack type as close-packed if the width of consecutive containers is greater than a preset width of a single container. In this way, the system can automatically and accurately identify the container stack type, improving the automation level of yard operations and reducing operational failure rates. By accurately determining the stack type, automated equipment can adjust its operating strategy according to the characteristics of the stack, improving the accuracy of handling and placement. Attached Figure Description

[0041] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0042] Figure 1 A schematic diagram of a conventional pile provided in this application;

[0043] Figure 2 A schematic diagram of a double-headed close-packed structure provided in this application;

[0044] Figure 3A flowchart illustrating the method for identifying container stack head types provided in this application;

[0045] Figure 4 A schematic diagram of grasping and releasing provided in this application;

[0046] Figure 5 A schematic diagram of the stack head type provided in this application;

[0047] Figure 6 A flowchart illustrating the process of identifying stack head types provided in this application;

[0048] Figure 7 A point cloud diagram of the generalized pile provided in this application;

[0049] Figure 8 A point cloud diagram of the multi-head stack provided in this application;

[0050] Figure 9 A schematic diagram of the device for identifying container stack head types provided in this application;

[0051] Figure 10 A schematic diagram of the structure of the electronic device provided in this application.

[0052] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0053] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0054] First, let me explain the terms used in this application:

[0055] Standard stack (standard stack head): This is typically a regular container stacking method with fixed intervals between containers, suitable for operation by standard grab and release equipment. Automated systems can execute grab and release tasks based on the simple stacking pattern of standard stacks, using fixed grab and release procedures and paths.

[0056] Single stack: refers to containers stacked continuously together at a certain location. The automated system needs to identify such individually stacked containers and adopt different grabbing and placing strategies to avoid grabbing and placing failures or equipment damage.

[0057] Double stack: refers to a stacking area with two sets of containers stacked on top of each other, but the two sets of containers are not connected.

[0058] The gripping and releasing methods, gripping force, and working angles of automated equipment will differ depending on the type of stack. Without accurate stack type identification, the gripping and releasing device may be unable to determine the structure of the stacking location, leading to gripping and releasing failures, improper operation, or equipment collisions.

[0059] In view of the above problems, this application provides a method for identifying container stack type, which identifies the stack type of containers in the yard before grabbing and releasing containers, distinguishes different stacks, and then controls the grabbing and releasing equipment to perform grabbing and releasing operations.

[0060] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0061] Figure 1 A schematic diagram of a conventional pile provided in this application is shown below. Figure 1 As shown, in a typical stacking pattern, there is a gap between each container and adjacent containers. Each container location may have one or more containers stacked on top of each other.

[0062] Figure 2 This is a schematic diagram of a double-headed close-packed structure provided in this application. Figure 2 In a stacked container terminal, there are continuous stacks of containers on both the left and right sides. There are no gaps between the containers on either side; this type of stack is called a double stack. When the left and right sides are connected, with no gaps between any containers, the stack is called a single stack. If the containers are divided into three sections, it is called a triple stack, or multi-stacking stack.

[0063] Figure 3 A flowchart illustrating the method for identifying container stack head types provided in this application is shown below. Figure 3 As shown, it includes the following steps:

[0064] S101. Obtain container data from the top view of the container yard.

[0065] Sensors are installed on the spreader or trolley platform to acquire container data from a downward perspective. Figure 4 This application provides a schematic diagram of a grasping and releasing action. Figure 4 In the case of a single stack head in a dense stack, sensors are installed on the trolley frame to scan the containers below and obtain container data.

[0066] In one implementation, the sensor is a lidar, which can be a single-line lidar or a multi-line lidar, and there can be multiple lidars. Therefore, the acquired container data is point cloud data collected by the lidar.

[0067] In one implementation, the sensor is a camera, which can be a depth camera. Therefore, the acquired container data is image data.

[0068] S102. Determine the width of continuous containers based on container data.

[0069] In this step, the container outline can be determined based on the container data. Therefore, the gap width between each container and adjacent containers in the stacking direction can be determined. If the width is less than a preset value, the containers are considered continuous. The continuous container section is treated as a whole, and the width of the continuous container is determined. The preset value can be set to 20cm, 30cm, 40cm, etc.

[0070] S103. If the width of consecutive containers is greater than the preset width of a single container, then the container stacking type is determined to be close stacking.

[0071] In this step, if the width of consecutive containers is greater than the preset width of a single container, it can be determined that the containers are stacked together, and the stack type is close stacking. Otherwise, it indicates that the containers are distributed separately, with gaps between each container and the other containers, which can be determined as ordinary stacking.

[0072] The standard width of a container is 2.438m. In practical applications, the width of a single container can be set to other values ​​to account for error factors.

[0073] If the container stack type is determined to be close stacking, then it can be determined whether it belongs to a single stack, double stack, or multiple stack based on the number of consecutive container segments. That is, one consecutive container segment determines it as a single stack, two consecutive container segments determine it as a double stack, and three or more consecutive container segments determine it as a multiple stack.

[0074] The container stack type identification method provided in this embodiment includes: acquiring container data from the top view of the container yard; determining the width of consecutive containers based on the container data; and determining the container stack type as close stacking if the width of consecutive containers is greater than a preset width of a single container. In this way, the system can automatically and accurately identify the container stack type, improving the automation level of yard operations and reducing the operational failure rate.

[0075] By accurately identifying the stack head type, automated equipment (such as automated stacker cranes and automated guided vehicles) can adjust its operational strategies based on the stack head's characteristics (such as dense stacking). For example, dense stacking areas require higher gripping and placement accuracy or pre-set gripping and placement methods different from ordinary stacks. Automated equipment can adjust its gripping and placement methods according to the stack head type, avoiding misoperation and improving operational efficiency.

[0076] In densely packed areas, containers are closely stacked. If misidentification occurs (misidentifying a densely packed area as a regular stack), automated equipment may perform incorrect operations, potentially leading to failed pick-and-place operations, equipment collisions, or container damage. This solution effectively distinguishes between densely packed and regular stacks, ensuring that the pick-and-place equipment operates with appropriate strategies, reducing the risk of equipment damage and container damage due to misoperation.

[0077] The following sections use point cloud data from LiDAR and images captured by cameras as examples to illustrate how to identify the stack type of containers.

[0078] Example 1

[0079] Figure 5 The schematic diagram provided for this application illustrates different stacking patterns. In the heavy container pattern, containers are arranged in a standard stacking manner.

[0080] Figure 6 A flowchart illustrating the stack type identification process provided in this application is shown below. Figure 6 The steps shown are as follows:

[0081] S201, the large vehicle approaches the target location.

[0082] At this time, lidar scans and collects point cloud information of the containers in the yard. The point cloud data includes information such as the spatial distribution, location, size, and height of the containers.

[0083] S202. Scan the outline information of the container at the bay.

[0084] By processing the point cloud data scanned by LiDAR, ground-based point cloud information is first filtered out to ensure that it does not affect subsequent analysis. Simultaneously, point cloud data outside the container yard is filtered out to ensure that only container data within the yard is processed.

[0085] S203. Determine whether the stack head type is dense stacking based on the point cloud projection length.

[0086] The acquired container point cloud is projected onto a two-dimensional plane, which can be perpendicular to the ground and along the width of the container. Then, the projected point cloud data is segmented, typically based on the intervals between containers.

[0087] Based on point cloud data, the continuous point cloud projection length in the horizontal direction of the two-dimensional plane is determined and used as the continuous container width. Then, it is determined whether the continuous point cloud projection length is greater than the preset width of a single container. If it is greater, it is determined to be dense stacking; otherwise, it is determined to be ordinary stacking.

[0088] For example, Figure 7 The point cloud diagram of the general-purpose pile provided in this application is shown in Figure 7 In this context, a coordinate system is constructed with the collection point as the origin. The horizontal axis represents the horizontal distance between the containers, and the vertical axis represents the height from the collection point. Based on... Figure 7 The point cloud data is analyzed, with each horizontal line representing a container, thus determining the container's location or outline. This allows for the determination of distances between outlines. The continuous points at the bottom represent ground point cloud data, which is not considered in the analysis. Figure 7 In the data, the projected lengths (i.e., the horizontal lengths) of the point cloud at position 1 and point cloud at position 2 are not connected. The distance between them is greater than a preset value. Furthermore, positions 3, 4, 5, and 6 are also not connected. Therefore, it can be determined that the pile head type in this stockpile is a standard pile.

[0089] For example, Figure 8 The point cloud diagram of the multi-head stack provided in this application is shown in Figure 8 In the middle, building and Figure 7 Similar coordinate system, and the analysis method is also the same. Figure 7 The same, in Figure 8 As can be seen, the point cloud projection lengths at points 1, 2, and 3 are continuous without gaps, and the overall continuous projection length is greater than the width of a container. Furthermore, there are containers on both the left and right sides, thus confirming multiple stacks. If there are only two sets of containers in the yard, each set being continuous, then this is a double stack.

[0090] When determining the length of the point cloud projection, the coordinates of the point cloud can be used. Furthermore, the interval between every two containers can also be determined using the coordinate information of each container. In the preset single stack layout, the difference between the coordinates of any adjacent containers is greater than a preset value. Therefore, it can be determined whether it is a single stack based on the coordinate information.

[0091] S204. Based on the container location information, determine whether the stacking method is a single stack.

[0092] For areas identified as densely packed, single-head and double-head containers can be distinguished using the container coordinate information, as detailed above. Figure 7 and Figure 8 As already mentioned, it will not be repeated here.

[0093] By processing and classifying point cloud data, the stack head type information of the target bay is output, including whether it is dense stacking and whether it is single stack head or double stack head.

[0094] S205. Determine the gripping and releasing control method corresponding to the stack head type.

[0095] Pre-store the grabbing and releasing control methods corresponding to different stack head types. The grabbing and releasing points of the containers are different in different grabbing and releasing control methods.

[0096] For conventional container stacking, the gripping and release control method can rely on a preset standard layout. The control method is generally simple because the container distribution is known. The gripping and release equipment locates the gripping and release points according to the planned path, typically located at the top center or four corners of the container. During gripping and release, the equipment travels directly along the set path, accurately reaching the gripping and release point, and then performs the gripping, release, and transport. Because the container positions in conventional stacking are fixed, the equipment requires less path planning and movement adjustments, resulting in high gripping and release efficiency and simple, stable operation.

[0097] In a single-container setup, other containers surround and interfere with the container's movement. Therefore, the control method for a single-container requires, first and foremost, real-time scanning of the container's position using sensors or a vision system to ensure accuracy. This prevents even minor deviations from increasing the difficulty of gripping and releasing. Based on the scan results, the gripping and releasing point is automatically adjusted, selecting the top center of the container or another suitable point. Collision avoidance measures must also be considered based on surrounding containers to prevent the gripping and releasing equipment from colliding with obstacles. Compared to the conventional stacking method, the entire gripping and releasing process is more complex, requiring the equipment to adjust its path and actions based on real-time feedback to ensure safety and precision.

[0098] For multi-stall containers, the handling and release process is similar to that of a single-stall container, but the handling and release sequence may differ. Each cluster of containers is handled and released sequentially, or the handling and release method of the equipment can be adjusted to allow for parallel handling and release of two groups of containers. The equipment's path planning is optimized based on the gaps between containers to ensure smooth and safe handling and release.

[0099] S206. Execute the determined capture and release control method.

[0100] This example provides a solution for identifying the stacking head type by scanning container stacking location information of bays with single-line or multi-line radar. This can improve the automation level of both conventional and dense stacking, enhance automation safety, and reduce failure rates.

[0101] The above example illustrates how to determine the stack head type using point cloud data. Below, we introduce an image-based method to determine single stacks, double stacks, and multiple stacks.

[0102] First, images or videos from the top of the container are obtained using a camera or other image capture equipment (such as a laser scanner, stereo camera, depth camera, etc.).

[0103] The acquired images undergo preprocessing, such as noise reduction, grayscale conversion, and contrast enhancement. The purpose of preprocessing is to improve image quality and facilitate subsequent image analysis.

[0104] Stack type feature extraction involves using edge detection algorithms (such as the Canny operator and the Sobel operator) to extract the edges of stacked items. These edges help identify the boundaries and outlines of the items, thereby distinguishing different stacking areas.

[0105] In one approach, contours are extracted from an image, and the type of stacked items is determined by analyzing the number, shape, and size of the contours. For example, if there is only one clear contour in the image, it may be a single stack; if there are two clear contours, it may be a double stack; and if there are multiple contours or areas, it may be a multi-stack stack.

[0106] In another approach, color information is used to segment the image and determine the boundaries between different stacked items. By performing a color space conversion on the image (such as from RGB to HSV), the differences between different items can be better distinguished.

[0107] Image segmentation algorithms (such as threshold-based segmentation, K-means clustering, and region growing) are used to divide the stacking areas. After segmentation, the shape and number of each area can be used to determine whether it is a single pile, a double pile, or multiple piles.

[0108] After dividing the image into different regions or contours, if only one obvious stacking area is detected in the image, and the area has no obvious segmentation or gaps in space, it can be identified as a single stack.

[0109] If two relatively independent stacking areas appear in the image, and there is a clear gap or different stacking methods between the two areas, it can be identified as a double stack.

[0110] If multiple independent stacking areas are detected in the image, and the width of each of these areas is equal to the error range of the width of a container, then it is determined to be a general stack; otherwise, it is determined to be a single stack.

[0111] Alternatively, a CNN model can be used for object detection and classification. By training a deep learning model to identify different pile types in an image, the model can automatically learn the features of single piles, double piles, and multiple piles, and classify them.

[0112] Optionally, instance segmentation algorithms can be used to accurately segment and label each stacking region in the image, thereby more accurately identifying single stacks, double stacks, and multiple stacks.

[0113] By labeling image data of different types of pile heads, a deep learning model is trained to automatically identify and classify pile head types. After the model is trained, a test set is used to evaluate its accuracy and robustness.

[0114] By using the image processing methods described above, the type of stack head can also be identified, thereby determining the corresponding gripping and releasing control method for the stack head.

[0115] Figure 9 A schematic diagram of the device for identifying container stack type provided in this application is shown below. Figure 9 As shown, the container stack type identification device 90 provided in this embodiment includes:

[0116] Module 901 is used to acquire container data from the top view of the container yard.

[0117] The first determining module 902 is used to determine the width of the continuous containers based on the container data;

[0118] The second determining module 903 is used to determine the container stack type as close stacking if the width of consecutive containers is greater than the preset width of a single container.

[0119] Optionally, the second determining module 903 is used for:

[0120] If the width of consecutive containers is less than or equal to the preset width of a single container, then the container stack type is determined to be a standard stack.

[0121] Optionally, if the container stack type is determined to be close stacking, the second determining module 903 is further used to:

[0122] Based on the container data, determine the number of segments of continuous container width in the container width direction;

[0123] If the number of segments is equal to 1, then the stack head type is determined to be a single stack head in a dense stack;

[0124] If the number of segments is equal to 2, then the pile head type is determined to be a double pile head in a close-packed structure;

[0125] If the number of segments is greater than 2, then the stack head type is determined to be a multi-stack head in a dense stack.

[0126] Optionally, the first determining module 902 is further configured to:

[0127] Based on the container data, the outline of each container is determined;

[0128] If the width interval between any two container outlines is less than a preset value, then the two container outlines are determined to be continuous container outlines.

[0129] The width of the continuous container is determined based on the continuous container profile.

[0130] Optionally, the container data is point cloud data, and the first determining module 902 is further configured to:

[0131] Based on the point cloud data of the container, the continuous point cloud projection length in a preset direction is determined as the continuous container width.

[0132] Optionally, if the container stack type is determined to be dense stacking, and the container data is point cloud data, the second determining module 903 is further used for:

[0133] Construct a coordinate system based on the point cloud data;

[0134] Determine the coordinates of each container;

[0135] If the coordinates of all containers match the preset single stack arrangement, then the stack arrangement is determined to be a single stack in a close-packed configuration.

[0136] Optionally, the device further includes: an execution module 904, specifically used for:

[0137] Determine the grabbing and release control method corresponding to the stack head type. The grabbing and release points of containers are different in the grabbing and release control method corresponding to different stack head types.

[0138] Execute the aforementioned grasping and releasing control method.

[0139] The container stack type identification device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0140] Figure 10 This is a schematic diagram of the electronic device provided in this application. The electronic device can be a controller for the field bridge, or a controller externally added to the field bridge. For example... Figure 10 As shown, the electronic device 50 provided in this embodiment includes at least one processor 501 and a memory 502. Optionally, the device 50 further includes a communication component 503. The processor 501, memory 502, and communication component 503 are connected via a bus 504.

[0141] In a specific implementation, at least one processor 501 executes computer execution instructions stored in memory 502, causing at least one processor 501 to perform the above-described method.

[0142] The specific implementation process of processor 501 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0143] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0144] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0145] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0146] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0147] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0148] This application also provides a yard crane, which includes a controller, sensors, a lifting system, and a drive system. The sensors are used to collect container data from the top view of the container yard, and the controller is used to implement the methods in the above embodiments.

[0149] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0150] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0151] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0152] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0153] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0154] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0155] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0156] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for identifying container stack type, characterized in that, The method includes: Acquire container data from the top view of the container yard; Based on the container data, the outline of each container is determined; If the width interval between any two container outlines is less than a preset value, then the two container outlines are determined to be continuous container outlines. The width of the continuous container is determined based on the continuous container profile; If the width of the continuous containers is greater than the preset width of a single container, then the container stack type is determined to be close stacking; Determine the grabbing and release control method corresponding to the container stack type, where the grabbing and release points of the containers are different for different stack types; Execute the aforementioned grasping and releasing control method.

2. The method according to claim 1, characterized in that, The method further includes: If the width of the continuous containers is less than or equal to the preset width of a single container, then the container stack type is determined to be a standard stack.

3. The method according to claim 1, characterized in that, If the container stack type is determined to be close stacking, the method further includes: Based on the container data, determine the number of segments of continuous container width in the container width direction; If the number of segments is equal to 1, then the stack head type is determined to be a single stack head in a dense stack; If the number of segments is equal to 2, then the pile head type is determined to be a double pile head in a close-packed structure; If the number of segments is greater than 2, then the stack head type is determined to be a multi-stack head in a dense stack.

4. The method according to any one of claims 1-3, characterized in that, The container data is point cloud data, and determining the width of the continuous containers includes: Based on the point cloud data of the container, the continuous point cloud projection length in a preset direction is determined as the continuous container width.

5. The method according to claim 1, characterized in that, If the container stack type is determined to be dense stacking, and the container data is point cloud data, the method further includes: Construct a coordinate system based on the point cloud data; Determine the coordinates of each container; If the coordinates of all containers match the preset single stack arrangement, then the stack arrangement is determined to be a single stack in a close-packed configuration.

6. A device for identifying container stack type, characterized in that, The device includes: The acquisition module is used to acquire container data from the top view of the container yard; The first determining module is used for: Based on the container data, the outline of each container is determined; If the width interval between any two container outlines is less than a preset value, then the two container outlines are determined to be continuous container outlines. The width of the continuous container is determined based on the continuous container profile; The second determining module is used to determine the container stack type as close stacking if the width of the continuous containers is greater than the preset width of a single container. Execution module, used for: Determine the grabbing and release control method corresponding to the container stack type, where the grabbing and release points of the containers are different for different stack types; Execute the aforementioned grasping and releasing control method.

7. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-5.

8. A field bridge, characterized in that, Includes a controller for performing the method as described in any one of claims 1-5.

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